Mechanism3D.h

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#pragma once
#include "common/Export.h"
 
#include <string>
 
namespace eve::physics {
 
class Body3D;
class Joint3D;
class World3D;
 
class EVENGINE_API_WORLD Mechanism3D {
public:
    enum class Kind { CrankSlider, Shaft, Ratchet };
 
    Mechanism3D(const Mechanism3D &) = delete;
    Mechanism3D &operator=(const Mechanism3D &) = delete;
 
    int getId() const { return id_; }
    std::string getKind() const;
    World3D *getWorld() const { return world_; }
    bool isValid() const;
 
    Joint3D *getDriveJoint() const { return drive_; }
    Joint3D *getCrankPinJoint() const { return crankPin_; }
    Joint3D *getSliderPinJoint() const { return sliderPin_; }
    Joint3D *getSliderJoint() const { return slider_; }
 
    float getDriveAngle() const;
    float getSliderTranslation() const;
    float getSpinSpeed() const;
 
    void setDrive(float speed, float maxTorque);
    void clearDrive();
    bool isDriveEnabled() const { return driveEnabled_; }
 
    void setRatchetDirection(int direction);
    int getRatchetDirection() const { return ratchetDirection_; }
    void setRatchetEngagementTorque(float torque);
    float getRatchetEngagementTorque() const { return engagementTorque_; }
 
    void destroy();
    void invalidate();
    void syncBeforeStep();
 
    ~Mechanism3D();
 
private:
    friend class World3D;
 
    Mechanism3D(World3D *world, Kind kind, int id, Joint3D *drive, Joint3D *crankPin, Joint3D *sliderPin,
                Joint3D *slider, float axisX, float axisY, float axisZ, int ratchetDirection,
                float engagementTorque);
 
    void requireKind(Kind expected, const char *operation) const;
    float axisSpinSpeed() const;
 
    World3D *world_ = nullptr;
    Kind kind_ = Kind::Shaft;
    int id_ = 0;
    Joint3D *drive_ = nullptr;
    Joint3D *crankPin_ = nullptr;
    Joint3D *sliderPin_ = nullptr;
    Joint3D *slider_ = nullptr;
    float axisX_ = 0.f, axisY_ = 0.f, axisZ_ = 1.f;
    bool driveEnabled_ = false;
    float driveSpeed_ = 0.f;
    float driveMaxTorque_ = 0.f;
    int ratchetDirection_ = 1;
    float engagementTorque_ = 0.f;
};
 
}  // namespace eve::physics